Personal vehicle control device

1. A personal vehicle control device for controlling a personal vehicle which includes a vehicle body including a seating portion which is configured so that a user is to be seated, a right-hand side wheel provided at the vehicle body and provided on a right side as the user seated on the seating portion faces a front of the vehicle, and a left-hand side wheel provided at the vehicle body and provided on a left side as the user seated on the seating portion faces the front of the vehicle, the personal vehicle control device comprising: an operation portion for inputting an original command value which includes a command value related to a turning angle of the vehicle body; an axis angle sensor for detecting a physical quantity related to a roll angle relative to a roll axis of the vehicle body and a physical quantity related to a turning angle relative to a yaw axis of the vehicle body; a right-hand side wheel sensor for detecting a physical quantity related to a rotation angular velocity of the right-hand side wheel; a left-hand side wheel sensor for detecting a physical quantity related to a rotation angular velocity of the left-hand side wheel; and a control portion executing a first calculation law in which a roll angle is determined on the basis of the physical quantity related to the roll angle detected by the axis angle sensor and in which an actual command value related to a rotation angular velocity for driving the right-hand side wheel and the left-hand side wheel is determined on the basis of the determined roll angle and the original command value, and a second calculation law in which an integrated value of a difference between the command value related to the turning angle inputted from the operation portion and the physical quantity related to the turning angle detected by the axis angle sensor with respect to time or an integrated value which is an integral of a ratio between the command value related to the turning angle inputted from the operation portion and the physical quantity related to the turning angle detected by the axis angle sensor with respect to time is determined, and in which the actual command value is determined so that the difference between the command value and the physical quantity is reduced or the ratio between the command value and the physical quantity is set to be close to one on the basis of the determined integrated value and the original command value, wherein the control portion determines whether a time period during which the integrated value is equal to or less than a predetermined value continues for a predetermined time and resets the integrated value to be zero in a case where the time period during which the integrated value is equal to or less than the predetermined value continues for the predetermined time.

2. The personal vehicle control device according to claim 1 , wherein the control portion estimates whether an unintentional change in a moving direction of the vehicle body, which is in a cant travel, to a downward direction due to gravity occurs on the basis of the difference between the command value and the physical quantity or the ratio between the command value and the physical quantity, and executes a third calculation law for determining the actual command value so that the difference is set to be smaller or the ratio is set to be closer to one on the basis of the difference between the command value and the physical quantity or the ratio between the command value and the physical quantity, and the original command value.

3. The personal vehicle control device according to claim 1 , in a state where it is determined that the vehicle body travels straight on a flat road, the control portion determines the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor, the control portion estimates that a radius of the right-hand side wheel and a radius of the left-hand side wheel are unbalanced or a frame of the vehicle body is imbalanced when a difference of the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor or a ratio determined by dividing a greater one of the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor by a smaller one of the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor is equal to or greater than a predetermined value and when a state that the difference or the ratio is equal to or greater than the predetermined value continues for a predetermined time, and the control portion corrects the actual command value.

4. The personal vehicle control device according to claim 1 further comprising: an acceleration meter for detecting acceleration of the vehicle body; wherein the control portion determines a vehicle body travel speed on the basis of an integrated value determined by integrating a measurement value of the acceleration meter with respect to time and a vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor, the control portion estimates that a radius of the right-hand side wheel or a radius of the left-hand side wheel is changed when a difference of the vehicle body travel speed on the basis of the integrated value determined by integrating the measurement value of the acceleration meter with respect to time and the vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor or a ratio determined by dividing a greater one of the vehicle body travel speed on the basis of the integrated value determined by integrating the measurement value of the acceleration meter with respect to time and the vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor by a smaller one of the vehicle body travel speed on the basis of the integrated value determined by integrating the measurement value of the acceleration meter with respect to time and the vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor is equal to or greater than a predetermined value and when a state that the difference or the ratio is equal to or greater than the predetermined value continues for a predetermined time, and the control portion corrects the actual command value so that an actual vehicle body travel speed does not exceed a maximum speed limit value in response to the change in the radius.

5. A personal vehicle control device configured to control a personal vehicle which includes a vehicle body including a seating portion which is configured so that a user is to be seated, a right-hand side wheel provided at the vehicle body and provided on a right side as the user seated on the seating portion faces a front of the vehicle, and a left-hand side wheel provided at the vehicle body and provided on a left side as the user seated on the seating portion faces the front of the vehicle, the personal vehicle control device comprising: an operation portion configured to input an original command value which includes a command value related to a turning angle of the vehicle body; an axis angle sensor configured to detect a physical quantity related to a roll angle relative to a roll axis of the vehicle body and a physical quantity related to a turning angle relative to a yaw axis of the vehicle body; a right-hand side wheel sensor configured to detect a physical quantity related to a rotation angular velocity of the right-hand side wheel; a left-hand side wheel sensor configured to detect a physical quantity related to a rotation angular velocity of the left-hand side wheel; and control circuitry configured to execute a first calculation law in which a roll angle is determined on the basis of the physical quantity related to the roll angle detected by the axis angle sensor and in which an actual command value related to a rotation angular velocity for driving the right-hand side wheel and the left-hand side wheel is determined on the basis of the determined roll angle and the original command value, and a second calculation law in which an integrated value of a difference between the command value related to the turning angle inputted from the operation portion and the physical quantity related to the turning angle detected by the axis angle sensor with respect to time or an integrated value which is an integral of a ratio between the command value related to the turning angle inputted from the operation portion and the physical quantity related to the turning angle detected by the axis angle sensor with respect to time is determined, and in which the actual command value is determined so that the difference between the command value and the physical quantity is reduced or the ratio between the command value and the physical quantity is set to be close to one on the basis of the determined integrated value and the original command value, wherein the control circuitry is configured to determine whether a time period during which the integrated value is equal to or less than a predetermined value continues for a predetermined time and reset the integrated value to be zero in a case where the time period during which the integrated value is equal to or less than the predetermined value continues for the predetermined time.

6. The personal vehicle control device according to claim 5 , wherein the control circuitry is configured to estimate whether an unintentional change in a moving direction of the vehicle body, which is in a cant travel, to a downward direction due to gravity occurs on the basis of the difference between the command value and the physical quantity or the ratio between the command value and the physical quantity, and execute a third calculation law for determining the actual command value so that the difference is set to be smaller or the ratio is set to be closer to one on the basis of the difference between the command value and the physical quantity or the ratio between the command value and the physical quantity, and the original command value.

7. The personal vehicle control device according to claim 5 , in a state where it is determined that the vehicle body travels straight on a flat road, the control circuitry is configured to determine the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor, the control circuitry is configured to estimate that a radius of the right-hand side wheel and a radius of the left-hand side wheel are unbalanced or a frame of the vehicle body is imbalanced when a difference of the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor or a ratio determined by dividing a greater one of the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor by a smaller one of the physical quantity related to the turning angle detected by the axis angle sensor and the physical quantity related to the turning angle of the vehicle body determined on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor is equal to or greater than a predetermined value and when a state that the difference or the ratio is equal to or greater than the predetermined value continues for a predetermined time, and the control circuitry is configured to correct the actual command value.

8. The personal vehicle control device according to claim 5 further comprising: an acceleration meter configured to detect acceleration of the vehicle body; wherein the control circuitry is configured to determine a vehicle body travel speed on the basis of an integrated value determined by integrating a measurement value of the acceleration meter with respect to time and a vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor, the control circuitry is configured to estimate that a radius of the right-hand side wheel or a radius of the left-hand side wheel is changed when a difference of the vehicle body travel speed on the basis of the integrated value determined by integrating the measurement value of the acceleration meter with respect to time and the vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor or a ratio determined by dividing a greater one of the vehicle body travel speed on the basis of the integrated value determined by integrating the measurement value of the acceleration meter with respect to time and the vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor by a smaller one of the vehicle body travel speed on the basis of the integrated value determined by integrating the measurement value of the acceleration meter with respect to time and the vehicle body travel speed on the basis of the right-hand side wheel sensor and the left-hand side wheel sensor is equal to or greater than a predetermined value and when a state that the difference or the ratio is equal to or greater than the predetermined value continues for a predetermined time, and the control circuitry is configured to correct the actual command value so that an actual vehicle body travel speed does not exceed a maximum speed limit value in response to the change in the radius.